Medical instrument actuator operation

Abstract

A medical instrument includes an instrument base, the instrument base including a first robotic drive input and a linear actuator coupled to the first robotic drive input, the first robotic drive input configured to couple to a corresponding robotic drive output of a robotic instrument driver, and an elongate shaft extending from a proximal portion of the instrument base, wherein the linear actuator couples to a portion of the elongate shaft at a point distal to the proximal portion of the instrument base.

What is claimed is: 
     
         1 . A medical instrument, comprising:
 an instrument base, the instrument base including a first robotic drive input and a linear actuator coupled to the first robotic drive input, the first robotic drive input configured to couple to a corresponding robotic drive output of a robotic instrument driver; and   an elongate shaft extending from a proximal portion of the instrument base, wherein the linear actuator couples to a portion of the elongate shaft at a point distal to the proximal portion of the instrument base.   
     
     
         2 . The medical instrument of  claim 1 , wherein the linear actuator comprises a linear gear configured to manipulate a longitudinal position of the elongate shaft. 
     
     
         3 . The medical instrument of  claim 1 , further comprising a second robotic drive input, the second robotic drive input configured to actuate a distal end of the medical instrument. 
     
     
         4 . The medical instrument of  claim 3 , further comprising a manual actuator, the manual actuator further controlling actuation of the distal end of the medical instrument. 
     
     
         5 . The medical instrument of  claim 3 , wherein the second robotic drive input is configured to expand or retract the distal end of the medical instrument. 
     
     
         6 . The medical instrument of  claim 1 , wherein the medical instrument comprises a laser tool or a basketing tool. 
     
     
         7 . The medical instrument of  claim 1 , wherein the elongate shaft forms a service loop extending from the proximal portion of the instrument base to the point distal to the proximal portion. 
     
     
         8 . A medical instrument, comprising:
 an instrument base;   one or more robotic drive inputs associated with the instrument base;   a first instrument actuator configured to be driven by a first drive input of the one or more robotic drive inputs; and   an elongate shaft having a first portion configured to be coupled to the first instrument actuator.   
     
     
         9 . The medical instrument of  claim 8 , wherein the first instrument actuator is configured to control advancement and retraction of at least a portion of the elongate shaft. 
     
     
         10 . The medical instrument of  claim 8 , further comprising a second instrument actuator configured to be driven by a second drive input of the one or more robotic drive inputs, the second instrument actuator being configured to be coupled to a second portion of the elongate shaft. 
     
     
         11 . The medical instrument of  claim 10 , wherein the second instrument actuator is configured to control deployment of a tool from the elongate shaft. 
     
     
         12 . The medical instrument of  claim 9 , wherein at least one of the first instrument actuator or the second instrument actuator is coupled to an outer sheath of the elongate shaft. 
     
     
         13 . The medical instrument of  claim 9 , wherein the first instrument actuator and the second instrument actuator are both robotically and mechanically actuatable. 
     
     
         14 . The medical instrument of  claim 9 , wherein:
 the one or more robotic drive inputs are rotating actuators; and   the first and second instrument actuators are linear actuators.   
     
     
         15 . The medical instrument of  claim 8 , wherein the elongate shaft projects from the base and forms a service loop between the base and the first instrument actuator. 
     
     
         16 . The medical instrument of  claim 8 , further comprising a third actuator configured to decouple the medical instrument from a base of an endoscope when the base of the medical instrument is mechanically coupled to the base of the endoscope. 
     
     
         17 . The medical instrument of  claim 8 , wherein the elongate shaft is configured to be coupled to the first instrument actuator via a detachable shaft coupler. 
     
     
         18 . The medical instrument of  claim 8 , further comprising an endoscope handle configured to mechanically couple to the instrument base. 
     
     
         19 . The medical instrument of  claim 18 , wherein the endoscope handle includes a plurality of robotic drive inputs configured to drive articulation of an endoscope shaft coupled to the endoscope handle. 
     
     
         20 . The medical instrument of  claim 19 , wherein the endoscope handle includes an instrument inlet through which the elongate shaft can pass through a portion of the endoscope handle and into a working channel of the endo scope shaft.